/**
  ******************************************************************************
  * @file           : Thread_config.h
  * @brief          : Header for Thread_config.c
  *                  
  ****************************************************************************** 
**/
/**************Includings******************/
#include <rtl.h>                    //Header for RL-RTX
#include "bsp.h"                    //Header for Bord Support Package
#include "Module_Motor.h"						//Header for Modules
#include "Tool_PID.h"								//Header for PID

#ifndef TASK_CONFIG_H
#define TASK_CONFIG_H
/***************Task IDs*******************/

/**************Founctions******************/

//Founction to start the rtx and creat the startup task 
void startup(void);

//Founction to creat user's tasks
/*Edit this fonction to add founctions into the active task list*/
__task void creatUserTasks(void);

//Founction to initializa Semaphores
/*Edit this fonction to add founctions into the active task list*/
void semaphoreInit(void);



#endif



























//以下代码用于测试不同优先级函数间切换
//OS_TID light_led, off_led;
//OS_SEM servoAct_BinarySemaphore;
//static uint32_t task1_tick=0 ;
//__task void light_LED(void)
//{
//	for (;;){
//		task1_tick = os_time_get();
//	//HAL_GPIO_WritePin(LED_core_GPIO_Port, LED_core_Pin, GPIO_PIN_RESET);
//	delay_ms(1000);
//	//test sem
//		task1_tick = os_time_get()-task1_tick;
//	//if(servoAct_BinarySemaphore[0]==0)os_sem_send(&servoAct_BinarySemaphore);
//	}
//}


//__task void off_LED(void)
//{
//	for (;;){
//	os_sem_wait(&servoAct_BinarySemaphore,0xffff);
//	{
//		printf("good");
//		HAL_GPIO_WritePin(LED_core_GPIO_Port, LED_core_Pin, GPIO_PIN_SET);
//		os_dly_wait(300);
//	}
//	}
//}





